where \(c\)  is the target velocity. We run behavioral cloning for \(1e5\)  steps. For DAgger [1]}, we train for \(5e4\)  steps on the same set of 25 trajectories as were given to the off-policy learners and then perform 9 iterations of rollouts/aggregation/refitting, sampling 20 trajectories and training for \(5e3\)  steps. Thus, both DAgger and BC are given the same compute budget – the only difference is the data that is passed in.
